計算機超聲引導針放置模擬系統近年受到醫學界密切關注。在過去十年，為應付各種需要，大量模擬系統被研發。與傳統訓練方法比較，使用計算機模擬系統作訓練擁有多種優點。例如：可控訓練環境，能重複使用的數據庫，以及客觀評核。至今，研究的主要方向依然是物理建構的模擬。雖然，更真實及更仔細的模擬系統能引發新的教學概念，系統開發的重點應該著眼於對訓練的影響。 / 本論文研究計算機超聲引導針放置模擬系統的最新發展。首先，我們會介紹計算機模擬系統的各個範疇及於醫學訓練的基本應用。使用計算機模擬系統作訓練用途的成效會被討論。然後，我們會討論幾種針對訓練成效的改進技術。這些技術包括一個動態訓練場景生成框架，綜合遊戲概念的方法，以及一種以臨床技術為本的穿刺提示規劃法則。它們對訓練的影響利用實驗作驗證。接著，我們介紹一個評核穿刺軌跡可視化技術的框架。我們的研究發現，穿刺軌跡的可視化技術對用家放置針的準確度有顯著的影響。這意味著模擬系統中穿刺軌跡的可視化技術需要經過非常小心的設計。最後，我們介紹一個超聲材質的描述器。這個描述器針對超聲材質的比較而設計。超聲材質的比較不止是在超聲模擬系統中重要的一環，更能被應用在各種醫學圖像的研究中。 / Computer-based ultrasound guided needle placement simulators have gained extensive attention of the medical society. In the last decade, a lot of simulators have been proposed to suit different purposes. Advantages of using computer-based simulators over traditional training include controlled training environment, reusable case database and objective evaluation. Yet, the most studied aspect of computer-based simulators remains the simulation of physical situations. Though a more realistic and detailed simulation enables new training concepts, the origin of any development shall be its effect on training. / This thesis studies the latest development of computer-based ultrasound guided needle placement simulators. We first introduce basic aspects of computer-based simulators and their applications on medical training. The effects on computer-based training over traditional methods are discussed. Secondly, we present various techniques that aim for effective training. These techniques include a framework for dynamic case generation, an integration of serious game concepts, and a recommendation scheme based on clinical practices. Their impacts on training are evaluated through various experiments. Thirdly, we present an evaluation framework for the visualization of needle access pathway. Our study shows that the adoption of visualization techniques significantly affects users' performance of needle alignment. This implies that a careful design of the visual effect inside a simulator is necessary. Lastly, we present a descriptor for ultrasound textures. This descriptor is designed for ultrasound textural comparison which is an important step for not only ultrasound simulators but also other medical imaging applications. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Chan, Wing Yin. / Thesis (Ph.D.) Chinese University of Hong Kong, 2014. / Includes bibliographical references (leaves 100-114). / Abstracts also in Chinese. / Chan, Wing Yin.

Percutaneous needle placement, a minimally invasive procedure performed dozens of millions in the U.S. each year, relies on dedicated skill and long-term training due to difficult control of needle trajectory inside tissue and mental registration of images to locations inside the patient. Inaccurate needle placement may miss cancer tumors during diagnosis or eradicate healthy tissue during therapy. MRI provides ideal procedure guidance with the merit of excellent soft tissue contrast and volumetric imaging for high spatial resolution visualization of targets and surgical tool. However, manual insertion in the bore of an MRI scanner has awkward ergonomics due to difficult access to the patient, making both training and intervention even harder. To overcome the challenges related to MRI electromagnetic compatibility and mechanical constraints of the confined close-bore, a modular networked robotic system utilizing piezoelectric actuation for fully actuated prostate biopsy and brachytherapy is developed and evaluated with accuracy study. To enhance manipulation dexterity, two kinds of steerable continuum needle robots are developed. The asymmetric tip needle robot performs needle rotation and translation control to minimize tissue deformation, and increase steering dexterity to compensate placement error under continuous MRI guidance. The MRI-guided concentric tube robot is deployed to access delicate surgical sites that are traditionally inaccessible by straight and rigid surgical tools without relying on tissue reaction force. The master-slave teleoperation system with hybrid actuation is the first of its kind for prostate intervention with force feedback. The teleoperation controller provides the feel and functionality of manual needle insertion. Fabry- Perot interferometer based fiber optic force sensor is developed for the slave manipulator to measure needle insertion force and render proprioception feedback during teleoperation.

Introdução e objetivo: A avaliação da gravidade da neoplasia em pacientes com câncer de próstata tem como propósito identificar e tratar somente os pacientes com doença clinicamente significativa. Os parâmetros clínicos e histopatológicos tradicionalmente utilizados na estratificação de risco classificam erroneamente uma parcela importante dos pacientes. O objetivo deste estudo foi avaliar o papel da ressonância nuclear multiparamétrica de próstata (RNMMP) e da biópsia transretal realizada com fusão de imagem e estimativa visual na estratificação precoce dos pacientes em vigilância ativa. Métodos: Foram incluídos prospectivamente pacientes com câncer de próstata de baixo risco candidatos a vigilância ativa: biópsia inicial convencional com no mínimo 12 fragmentos; escore de Gleason <= 6; PSA sérico <= 10,0; <= 3 fragmentos positivos; <= 50% de acometimento de cada fragmento; toque T1c ou T2a. Todos os pacientes foram submetidos à RNMMP e biópsia confirmatória: biópsia aleatória sistemática e biópsia guiada com fusão de imagem (ultrassom e RNMMP) e analisada por método cognitivo de estimativa visual. As regiões suspeitas para câncer foram definidas e classificadas utilizando-se a escala PI-RADS (Prostate Imaging Reporting and Data System). Definimos reclassificação na biópsia confirmatória como aparecimento de escore de Gleason >= 7, > 3 fragmentos positivos ou >= 50% de envolvimento de qualquer fragmento. A performance da RNMMP em prever os resultados da biópsia confirmatória foi estudada. Análise uni e multivariada mediante regressão logística avaliou a relação entre idade, PSA, densidade de PSA, número de fragmentos positivos na biópsia inicial e o escore da RNMMP e a chance de reclassificação na biópsia confirmatória. Resultados: Cento e cinco pacientes estiveram disponíveis para análise final. Quarenta e dois (40%) pacientes apresentaram PI-RADS 1,2 ou 3 e 63 (60%) PI-RADS 4 ou 5. No geral, 87 pacientes foram submetidos à biópsia guiada com fusão. A taxa de reclassificação entre pacientes com PI-RADS 1,2,3,4 e 5 foi de 0%, 23.1%, 9.1%, 74.5% e 100%, respectivamente. No geral, a sensibilidade, especificidade, valor preditivo positivo (VPP) e valor preditivos negativo (VPN) da RNMMP para predição de reclassificação foi de 92.5%, 76%, 81% e 90.5%, respectivamente. Daqueles reclassificados, 47 (44.8%) tinham escore de Gleason >= 7 e 11 apresentavam (10.4%) >= 3 fragmentos positivos e >= 50% de envolvimento de qualquer fragmento individualmente. Na análise multivariada, somente a densidade de PSA e a RNMMP permaneceram como fatores preditivos significativos para reclassificação (p < 0,05). Na tabulação cruzada a biópsia aleatória sistemática teria deixado de classificar corretamente 15 pacientes com câncer significativo detectados pela biópsia com fusão de imagem. Por outro lado, a biópsia aleatória sistemática detectou cinco casos de câncer significante que não teriam sido identificados pela biopsia de fusão de imagem isoladamente. Conclusões: A RNMMP é uma ferramenta importante na predição da taxa de reclassificação da gravidade da neoplasia de próstata em pacientes candidatos à vigilância ativa submetidos à biopsia confirmatória. A taxa de reclassificação na biopsia confirmatória é particularmente alta no grupo de pacientes com lesões PI-RADS grau 4-5. Apesar da utilidade da biópsia com fusão de imagem, recomenda-se a manutenção da prática de se retirar fragmentos sistemáticos aleatórios quando da realização da biópsia confirmatória para maximizar a detecção de neoplasia de comportamento agressivo / Introduction and objective: The goal of prostate cancer (PCa) risk stratification is to identify and treat only men with clinically significant disease. Clinical and pathologic parameters currently used to stratify PCa risk misclassify a significant amount of patients. The objective of this study was to evaluate the role of multiparametric magnetic resonance imaging of the prostate (mpMRI) and transrectal guided biopsy with visual estimation (TRUS-Bx) in early risk stratification of patients with prostate cancer on active surveillance. Methods: Study subjects were prospectively enrolled including patients with low risk, low-grade, localized PCa: Gleason <= 6, T1c-T2a, PSA <=10 ng/ml, no more than 3 positive cores and <= 50% involvement of single cores. They were followed with subsequent mp-MRI and confirmatory biopsy (CB): standard biopsy (SB) and visual estimation-guided TRUS-Bx. Cancer-suspicious regions (CSRs) were defined using Prostate Imaging Reporting And Data System (PIRADS) scores. Reclassification occurred if CB confirmed Gleason >= 7, > 3 positive fragments or >= 50% involvement of any core. The performance of mp- MRI on predicting CB results was assessed. Univariate and multivariate logistic regression were performed to study relationships between age, PSA, PSA density, number of positive cores in the initial biopsy and mpMRI grade on CB reclassification. Results: 105 patients were available for analysis. 42 (40%) patients had PIRADS 1,2 or 3 lesions and 63 (60%) had only grades 4 or 5 lesions. Overall, 87 patients underwent visual estimation TRUS-Bx. Reclassification among patients with PI-RADS 1,2,3,4 and 5 was 0%, 23.1%, 9.1%, 74.5% and 100%, respectively. Overall, mpMRI sensitivity, specificity, PPV and NPV for disease reclassification were 92.5%, 76%, 81% and 90.5%, respectively. Of men reclassified 47 (44.8%) were upstaged because of Gleason >= 7, 11 (10.4%) because of >= 3 positive fragments plus >= 50% involvement. On multivariate analysis, only PSA density and mpMRI remained significant for reclassification (p < 0,05). On cross-tabulation SB would have missed 15 significant cases detected by targeted biopsy. On the other hand SB detected 5 cases of significant cancer not detected by targeted biopsy alone. Conclusions: Multiparametric magnetic resonance imaging is a significant tool for predicting cancer severity reclassification on CBx among AS candidates. The reclassification rate on CBx is particularly high in the group of patients who have PI-RADS grades 4 or 5 lesions. Despite the usefulness of visual-guided biopsy, it still remains highly recommended to retrieve standard fragments during CBx in order to avoid missing significant tumors

Magnetic Resonance Imaging (MRI) provides unique advantages such as superior soft tissue contrast, true multiplanar imaging, variable contrast mechanisms, measurement of temperature changes, perfusion and diffusion, and no ionizing radiation. Despite considerable research efforts in the field of interventional MRI, numerous challenges remain including restricted access to the patient, high acoustic noise and a shortage of MRI-safe devices. Novel methods and devices are presented in this thesis with the primary objective of enabling effective MRI-guided interventions, particularly abdominal needle and common catheter-based endovascular interventions. Firstly, a set of MRI-safe devices (guidewires, micro guidewires, catheters and micro catheters) were developed with passive or inductively coupling resonant markers for MRI visualisation. Secondly, a method was implemented for wireless tracking and dynamic guidance of instruments. Thirdly, a framework of technologies was developed for in-room display, wireless MRI remote control and multi-user communication along with a dedicated user interface and imaging protocol. These implementations were assessed in regards to MRI-safety, performance and usability and evaluated for MRI-guided liver biopsies, balloon angioplasty procedures and also for mechanical thrombolysis. Flow phantoms, Thiel soft-embalmed human cadavers with partially re-established perfusion and a porcine model were used for in vitro, ex vivo and in vivo validation, respectively. The results demonstrate that these interventions are experimentally feasible and practical when using the presented developments: automated device tracking and equipment designed for MRI-guided interventions streamlined procedural workflow. Specifically, it was shown that fast and accurate needle placements along complex trajectories were feasible using a wireless interactive display and control device with a dedicated user interface for interventions. Moreover, safe and efficacious balloon angioplasties of the iliac artery were practical using the described framework of technologies along with a dedicated MRI protocol. Finally, it was demonstrated that these developments could be adapted and applied to MRI-guided endovascular mechanical thrombolysis of the middle cerebral artery. The technologies, described in this thesis have been shown to overcome many of the present limitations and should therefore be useful for enabling MRI-guided interventions while not further constraining the operating physician in an already complex environment. Nevertheless, it is acknowledged that many crucial issues remain to be solved in the field of iMRI and in the context of the presented research. In particular further device optimisations, improvements of the tracking implementation along with further in vivo evaluations are required before moving towards clinical evaluation. This thesis sets the groundwork for moving ahead with the eventual clinical realisation of optimised MRI-guided interventions.

Numerous studies have demonstrated the potential efficacy of percutaneous image-guided interventions over open surgical interventions. The conventional image-guided procedures are limited by the freehand technique, requiring mental 3D registration and hand-eye coordination for needle placement. The outcomes of these procedures are associated with longer duration and increased patient discomfort with high radiation exposure. Previously, a static image overlay system was proposed for aiding needle interventions. Certain drawbacks associated with the static system limited the clinical translation. To overcome the ergonomic issues and longer calibration duration associated with static system, an adjustable image overlay system was proposed. The system consisted of monitor and semi-transparent mirror, attached together to an articulated mobile arm. The 90-degree mirror-monitor configuration was proposed to improve the physician access around the patient. MicronTracker was integrated for dynamic tracking of the patient and device. A novel method for auto-direct calibration of the virtual image overlay plane was proposed. Due to large mechanical structure, the precise movement was limited and consumed useful space in the procedure room. A mobile image overlay system with reduced system weight and smaller dimensions was proposed to eliminate the need for mechanical structure. A tablet computer and beamsplitter were used as the display device and mirror respectively. An image overlay visualization module of the 3D Slicer was developed to project the correct image slice upon the tablet device. The system weight was reduced to 1 kg and the image overlay plane tracking precision (0.11mm STD=0.05) was similar to the printed physical markers. The auto-calibration of the image overlay plane can be done in two simple steps, away from the patient table and without additional phantom. Based on the successful pre-clinical testing of the previous static system, the mobile image overlay system with reduced weight, increased tracking precision and easier maneuverability, can be possibly hand-held by the physician to explore the image volume over the patient and be used for a wide range of procedures. The mobile image overlay system shall be classified as Class II device as per FDA regulations, do not require extensive verification and validation efforts and further improves the commercialization opportunities. / Thesis (Master, Mechanical and Materials Engineering) -- Queen's University, 2014-06-26 18:51:03.958

This thesis investigates the exact minimisation of treatment delivery time for Intensity Modulated Radiation Therapy (IMRT) for the treatment of cancer using Multileaf Collimators (MLC). Although patients are required to remain stationary during the delivery of IMRT, inevitably some patient movement will occur, particularly if treatment times are longer than necessary. Therefore minimising the treatment delivery time of IMRT may result in less patient movement, less inaccuracy in the dosage received and a potentially improved outcome for the patient. When IMRT is delivered using multileaf collimators in 'step and shoot' mode, it consists of a sequence of multileaf collimator configurations, or shape matrices; for each, time is needed to set up the configuration, and in addition the patient is exposed to radiation for a specified time, or beam-on time. The 'step and shoot leaf sequencing' problems for minimising treatment time considered in this thesis are the constant set-up time Total Treatment Time (TTT) problem and the Beam-on Time Constrained Minimum Cardinality (BTCMC) problem. The TTT problem minimises a weighted sum of total beam-on time and total number of shape matrices used, whereas the BTCMC problem lexicographically minimises the total beam-on time then the number of shape matrices used in a solution. The vast majority of approaches to these strongly NP-hard problems are heuristics; of the few exact approaches, the formulations either have excessive computation times or their solution methods do not easily incorporate multileaf collimator mechanical constraints (which are present in most currently used MLC systems). In this thesis, new exact mixed integer and integer programming formulations for solving the TTT and BTCMC problems are developed. The models and solution methods considered can be applied to the unconstrained and constrained versions of the problems, where 'constrained' refers to the modelling of additional MLC mechanical constraints. Within the context of integer programming formulations, new and existing methods for improving the computational efficiency of the models presented are investigated. Numerical results for all variations considered are provided. This thesis demonstrates that significant computational improvement can be achieved for the exact mixed integer and integer programming models investigated, via solution approaches based on an idea of systematically 'stepping-up' through the number of shape matrices used in a formulation, via additional constraints (particularly symmetry breaking constraints) and via the application of improved bounds on variables. This thesis also makes a contribution to the wider field of integer programming through the examination of an interesting substructure of an exact integer programming model. In summary, this thesis presents a thorough analysis of possible integer programming models for the strongly NP-hard 'step and shoot' leaf sequencing problems and investigates and applies methods for improving the computational efficiency of such formulations. In this way, this thesis contributes to the field of leaf sequencing for the application of Intensity Modulated Radiation Therapy using Multileaf Collimators.

En chirurgie mini-invasive guidée par l’image, une planification préopératoire précise des trajectoires des outils chirurgicaux est un facteur clé pour une intervention réussie. Cependant, une planification efficace est une tâche difficile, qui peut être considérablement améliorée en considérant différents facteurs contributifs tels que les déformations biomécaniques intra-opératoires, ou en introduisant de nouvelles techniques d'optimisation. Dans ce travail, nous nous concentrons sur deux aspects. Le premier aspect porte sur l'intégration de la déformation intra-opératoire dans le processus de planification de trajectoire. Nos méthodes combinent des techniques d'optimisation géométrique à base de simulations biomécaniques. Elles sont caractérisées par un certain niveau de généralité, et ont été expérimentées sur deux types d’interventions chirurgicales: les procédures percutanées pour l'ablation de tumeurs hépatiques, et la stimulation cérébrale profonde en neurochirurgie. Deuxièmement, nous étudions, mettons en œuvre, et comparons plusieurs approches d'optimisation en utilisant des méthodes qualitatives et quantitatives, et nous présentons une méthode efficace d'optimisation évolutionnaire multicritères à base de Pareto qui permet de trouver des solutions optimales qui ne sont pas accessibles par les méthodes existantes. / In image-guided minimally invasive surgery, a precise preoperative planning of the surgical tools trajectory is a key factor to a successful intervention. However, an efficient planning is a challenging task, which can be significantly improved when considering different contributing factors such as biomechanical intra-operative deformations, or novel optimization techniques. In this work, we focus on two aspects. The first aspect addresses integrating intra-operative deformation to the path planning process. Our methods combine geometric-based optimization techniques with physics-based simulations. They are characterized with a certain level of generality, and are experimented on two different surgical procedures: percutaneous procedures for hepatic tumor ablation, and in neurosurgery for Deep Brain Stimulation (DBS). Secondly, we investigate, implement, and compare many optimization approaches using qualitative and quantitative methods, and present an efficient evolutionary Pareto-based multi-criteria optimization method which can find optimal solutions that are not reachable via the current state of the art methods.

Les gliomes sont des tumeurs cérébrales primitives représentant le deuxième cancer le plus fréquent chez l’enfant et la troisième cause de mortalité chez l’adulte jeune. Il a été démontré qu’une chirurgie d’exérèse tumorale permet d’augmenter la qualité et la durée de vie du patient, voir même dans certains cas, d’obtenir sa guérison. L’identification intraopératoire des résidus tumoraux permettrait au chirurgien de vérifier, in situ, la qualité de son geste d’exérèse. Une nouvelle modalité d’imagerie intraopératoire a été proposée comme solution pour détecter les tumeurs résiduelles. Elle se base sur l’utilisation d’une sonde nucléaire combinée à un système de localisation optique. Cette nouvelle modalité, appelée imagerie surfacique de positons (ISP), permet la génération d’images de la distribution surfacique d’un radiotraceur comme le 18 F − F DG d’une zone d’intérêt scannée. L’ISP n’étant actuellement pas utilisée en clinique, nous proposons pour la première fois une étude de faisabilité de son utilisation pour l’optimisation de la chirurgie des tumeurs cérébrales. Nous montrons les limites de l’utilisation potentielle de l’ISP dans un contexte neurochirurgical par des études expérimentales en considérant des facteurs intraopératoires pouvant influencer la qualité des images générées par le système. Les contributions présentées se concentrent sur trois axes. Dans un premier temps, nous souhaitons obtenir des images fonctionnelles d’ISP avec un temps de calcul faible. L’application de modèles d’acquisition aux mesures permettent d’améliorer la qualité des images, au détriment d’un temps de calcul élevé. Nous suggérons un nouveau modèle d’acquisition dédié au contexte intraopératoire, permettant l’amélioration de la résolution et du contraste des images pour un temps de calcul réduit. Un deuxième axe est dédié à l’étude de l’impact d’une acquisition intraopératoire sur les performances du système. Nous proposons l’estimation des paramètres intrinsèques de la sonde nucléaire utilisée et de l’influence de la hauteur du processus de scan sur leurs valeurs. Le dernier axe est consacré à la validation de modèles d’acquisition dans le contexte intraopératoire. Nous présentons une étude comparative des performances de modèles d’acquisition en considérant l’impact potentiel de la vitesse de scan durant l’acquisition. L’ensemble de ces travaux a contribué à l’étude de faisabilité de l’utilisation d’un système d’ISP en intraopératoire, proposée pour la première fois en neurochirurgie. / Gliomas are primitive brain tumors, which represent the second most frequent cancer among children and the third cause of death among young adult. It has been shown that resection surgery improves patient outcomes, leading to its cure for some cases. Intraoperative detection of residual tumor allows the surgeon to check the quality of its resection gesture. A new intraoperative imaging modality has been proposed as a solution to detect residual tumors. It relies on a nuclear probe associated with an optical localization system. This new modality, called positron surface imaging (PSI), generates images of the activity surface distribution of a 18 F based radiotracer of a scanned area of interest. Not used in clinical context yet, we proposed for the first time a feasibility study of its usage to optimize brain tumor surgery. We show limitations of the potential usage of PSI in neurosurgery through experimental studies, considering intraoperatives factors which may influence quality of generated images. Contributions in this study are presented on three axes. First, we want to generate PSI functional images with a low computational time. Acquisition models applied to measurements improve image quality at the cost of high computational time. We suggest a new acquisition model dedicated to intraoperative usage, allowing enhancement of spatial resolution and contrast of images for a low computational time. The second axis is dedicated to the study of the intraoperative acquisition impact on system performance. We propose to estimate the intrinsic parameters of nuclear probe and the study of scanning process on their values. Finally, we present the validation of acquisition models dedicated to intraoperative context. We show a comparative study of acquisition models performance considering potential impact of scanning speed process during acquisition. This work has contributed to the feasibility study of using an ISP system in the intraoperative context, proposed for the first time in neurosurgery.

Le but principal de ce projet est de préparer l’implantation clinique du système Clarity qui utilise une sonde ultrasonore pour visualiser l’anatomie interne du patient. Ce système est utilisé pour les cas de prostate et nécessite d’être adapté pour les cas de poumon. L’utilité de ce système est de suivre un substitut afin d’inférer la position d’une tumeur pulmonaire. L’hypothèse de cette étude est qu’un substitut interne serait mieux corrélé avec une tumeur pulmonaire que le seraient des marqueurs externes. Les sous-objectifs sont : 1) aborder l’adaptation du montage pour faire des acquisitions sur des patients ; 2) explorer la performance des algorithmes de détection de mouvements ainsi que des métriques de qualité d’image sur des images US et ciné IRM; 3) démontrer que la corrélation entre un substitut interne et une structure pulmonaire est plus grande que celle avec un substitut externe. Pour les acquisitions d’images US, la sonde est placée sur les volontaires et fixée à la table de traitement à l’aide d’un bras mécanique. Il a été démontré qu’une pression insuffisante peut causer une perte de signal dû à la forme curviligne de la sonde. La diminution de la moyenne des intensités de l’image et de l’écart-type confirme une perte de signal lors d’amplitudes respiratoires élevées justifiée par une perte de contact entre la sonde et la peau malgré la fixation de la sonde. Entre les algorithmes de corrélation croisée normalisée (NCC), d’erreur moyenne quadratique (RMS) et de flux optique, la méthode NCC semble la plus robuste pour suivre le substitut interne (structure dans le foie) dans les images IRM pour 5/9 volontaires sains ( = 0, 050). Cette méthode est utilisé présentement pour les cas de prostate. Le flux optique s’est montré plus efficace pour des cas spécifiques ce qui démontre l’intérêt d’adapter l’algorithme pour les cas de poumons. Enfin, il a été démontré sur les images IRM qu’un substitut interne au niveau du foie est plus efficace pour la majorité des volontaires (8/9) en comparaison avec un marqueur sur la peau placé dans la région abdominale. Le marqueur abdominal possède une meilleure corrélation qu’un marqueur thoracique (9/9) illustrant l’importance du positionnement d’un marqueur externe pour le suivi d’une tumeur pulmonaire. / The main objective of this thesis is to prepare the clinical implementation of the Clarity ultrasound system for indirect lung tumours tracking using a surrogate. It is currently used for motion management during prostate treatments and requires adaptation. Our hypothesis is that an internal marker would have a better correlation with the tumour’s position than an external surrogate. The sub-objectives are : 1) test different setups for the image acquisition on patients ; 2) explore the algorithms’ performance for motion detection as well as the image quality metrics on US and dynamic MRI images ; 3) evaluate the correlation between surrogates and a lung structure to determine which performs best. The ultrasound probe is fixed on the treatment couch for the acquisition on healthy volunteers using a mechanical arm. Low pressure on the patient’s skin results in a loss of signal due to the curvilinear shape of the probe. We observed a loss of contact between the probe and the volunteers’ skin due to ample movements causing a deterioration of the image quality. We tested three different motion detection algorithms on dynamic MRI images : normalized cross-correlation (NCC), root mean square error (RMS) and optical flow. The NCC algorithm is the most robust out of the three for 5/9 volunteers for the internal surrogate tracking ( < 0.050). In specific cases, the optical flow method performed better indicating an interest in developping a new algorithm for indirect lung tracking. Finally, the correlation between the surrogates and a lung structure were calculated using the MRI images. The internal surrogate inside the liver was proven more efficient for indirect lung tumour tracking for 8/9 volunteers. External markers give a greater prediction error. It has also been shown that the positioning of the external marker on the patient’s skin impacts the correlation. The abdominal marker is better than the thoracic one for all the volunteers.

The identification of eloquent areas is of utmost importance in the surgery of tumors located near speech-eloquent brain areas, since the classical concept of a constant localization was proven to be untrue and the spatial localization of these areas may show large interindividual differences. Some neurosurgical centers apply intraoperative electrophysiological methods that, however, necessitate the performance of surgery in the awake patient. This might be a severe burden both for the patient and the operating team in a procedure that lasts several hours; in addition, electrical stimulation may generate epileptic seizures. Alternatively, methods of functional brain imaging (e.g., PET, fMRI, MEG) may be applied, which allow individual localization of speech-eloquent areas. Matching of these image data with a conventional 3D-CT or MRI now allows the exact transfer of this information into the surgical field by neuronavigation. Whereas standards concerning electrophysiological stimulation techniques that could prevent a permanent postoperative worsening of language are available, until now it remains unclear whether the resection of regions shown to be active in functional brain imaging will cause a permanent postoperative deficit. / Die Identifikation sprachaktiver Areale ist von höchster Bedeutung bei der Operation von Tumoren in der Nähe des vermuteten Sprachzentrums, da das klassische Konzept einer konstanten Lokalisation des Sprachzentrums sich als unrichtig erwiesen hat und die räumliche Ausdehnung dieser Areale eine hohe interindividuelle Varianz aufweisen kann. Einige neurochirurgische Zentren benutzen deshalb intraoperativ elektrophysiologische Methoden, die jedoch eine Operation am wachen Patienten voraussetzen. Dies kann sowohl für den Patienten als auch das Operations-Team eine schwere Belastung bei diesem mehrstündigen Eingriff darstellen, zusätzlich können epileptische Anfälle durch die elektrische Stimulation generiert werden. Alternativ können Modalitäten des «functional brain imaging» (PET, fMRT, MEG usw.) eingesetzt werden, die die individuelle Lokalisation sprachaktiver Areale gestatten. Die Bildfusion dieser Daten mit einem konventionellen 3D-CT oder MRT erlaubt den exakten Transfer dieser Daten in den OP-Situs mittels Neuronavigation. Während Standards bei elektrophysiologischen Stimulationstechniken existieren, die eine permanente postoperative Verschlechterung der Sprachfunktion weitgehend verhindern, bleibt die Relevanz sprachaktiver Areale bei den neuesten bildgebenden Techniken bezüglich einer Operations-bedingten Verschlechterung der Sprachfunktion bisher noch unklar. / Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.